ارزیابی کارایی روبات ها در برنامه های کاربردی ماشینکاری با استفاده از اندازه گیری عملکرد صنعتی

The paper is devoted to the robotic based machining. The main focus is made on robot accuracy in milling operation and evaluation robot capacity to perform the task with desired precision. Particular attention is paid to the proper modeling of manipulator stiffness properties and the cutting force estimation. In contrast to other works, the robot performance is evaluated using the circularity norm that evaluates the contortion degree of the benchmark circle to be machined. The developed approach is applied to five industrial robots of KUKA family, which have been ranked for several machining tasks. The validity of the proposed technique was confirmed by experimental study dealing with robot-based machining of circular grooves for several workpiece samples and different locations.